2017:Robot IO Map

Robot I/O

CAN ID Assignments

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A
0	Electrical	PD Module		Power Distribution Module feedback	monitor PD	must be CAN 0
1	RESERVED	n/a		Factory-default allows for adding Jaguar quickly and re-assign its ID		don't use
2	Drivetrain	motor	CIM	Left drive motor	or PWM?	40A Breaker
3	Drivetrain	motor	CIM	Left drive motor	or PWM?	40A Breaker
4	Drivetrain	motor	miniCIM	Left drive motor	or PWM?	40A Breaker
5	Drivetrain	motor	CIM	Right drive motor	or PWM?	40A Breaker
6	Drivetrain	motor	CIM	Right drive motor	or PWM?	40A Breaker
7	Drivetrain	motor	miniCIM	Right drive motor	or PWM?	40A Breaker
8	Fuel Intake	motor	RS775 Pro	Intake roller
9	Shooter	motor	?	shooter rotation	main shooter	40A breaker
10	Fuel Transition	motor	?	intake conveyor
11	Fuel Transition	motor	?	hopper outlet roller
12	Shooter	motor	?	shooter feed roller	shooter indexer & pre-acceleration
13
14
15

PWM Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes (8) max. 40A
0	Drivetrain	motor	2 CIM 1miniCIM	Left Drive Motors	or CAN?	40A Breaker PWM splits to speed controllers
1	Drivetrain	motor	2 CIM 1miniCIM	Right Drive Motors	or CAN?	40A Breaker PWM splits to speed controllers
2	Gear	servo		open/close left side	xx degrees open, xx degrees closed
3	Gear	servo		open/close right side	xx degrees open, xx degrees closed
4
5
6
7
8
9

Relay Outputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3

Analog IO

RoboRIO Analog Inputs

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
0
1
2
3

Rev Robotics More Board Analog IO

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Voltage Range	Notes
AIN0
AIN1
AIN2
AIN3
AOUT0
AOUT1

Digital IO (GPIO)

RoboRio IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0	IN	Drivetrain	Shaft Encoder	63R256	Left Encoder Phase A	Drivetrain rotation
1	IN	Drivetrain	Shaft Encoder	63R256	Left Encoder Phase B	Drivetrain rotation
2	IN	Drvietrain	Shaft Encoder	63R256	Right Encoder Phase A	Drivetrain rotation
3	IN	Drivetrain	Shaft Encoder	63R256	Right Encoder Phase B	Drivetrain rotation
4	IN	Fuel Intake	Shaft Encoder		speed incoder phase A	intake speed
5	IN	Shooter	Encoder		speed encoder phase A	shooter wheel speed	Optical or magnetic? To RoboRio or speed controller?
6	IN	Gear			opto or switch	indicates gear loaded into mechanism
7	IN	Gear	switch		pressure plate switch	indicates loading spear fully engaged
8	IN
9	OUT

Rev Robotics More Board IO

ID	Direction (IN/OUT)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

I2C Registers

Address (e.g. 0100111X)	Pin (e.g. GP0)	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1
2
3
4
5
6

SPI Devices

#	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes

USB Host Ports

Address	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes
0
1

Pneumatics Control Module

ID	Subsystem	Component Type	Model #	Description (brief)	Operation	Notes	Pressure Circuit
0
1
2
3
4
5
6
7

Operator Controls

Controller 1 - Primary Driver

Action/Button	Description	Details
Left Joystick Y	Moves the robot forward/back	"Up drive the robot forward (Breacher Side) Down drives the robot backward (Scaler Side)" NOTE: will do the opposite if drive is toggled
Right Joystick X	Turns robot left/right	""Right will turn the robot clockwise and vice versa. With no input from the left Joytick, does point turn. With input from left, does curve turn"" NOTE: will do the opposite if drive is toggled
Left Bumper	slow for left
Right Bumper	slow for right
Left Trigger	turbo left
Right Trigger	turbo
Y button		CASEY SAID HE DOESNT NEED A CAMERA, ANDREW AGREED Update: upon further review Andrew is now worried about climbing the rope on the other side
A button	toggle drive

Controller 2 - Aux Driver

Action/Button	Description	Details
Left Joystick Up
Left Joystick Down
Right Joystick Up
Right Joystick Down
Right Bumper
Right Trigger
Dpad Left
Dpad Right
"Left Trigger + Dpad down"
"Left Bumper + Dpad Up"
A button
Y button

Broken Switches

Broken Switch1
Broken Switch2
Broken Switch3
Broken Switch4
Broken Switch5
Broken Switch6
Broken Switch7

IO Maps for Old Robots

• 2016 IO Map
• 2015 IO Map
• 2014 IO Map
• 2013 IO Map
• 2012 IO Map
• 2011 Thunderous Prime IO Map
• 2010 Thunderfoot IO Map
• 2009 Thunderplucker
• IO Pin Maps for Pre-2009 Robots